BIP: a joint project for the development of an anthropomorphic biped robot

Author

Espiau, Bernard

Author_Institution

INRIA Rhone-Aples, Montbonnot, France

fYear

1997

fDate

7-9 Jul 1997

Firstpage

267

Lastpage

272

Abstract

The BIP project is a French joint project, started in fall 1994, which involves four laboratories. Its goal is to design a 17-joint anthropomorphic mechanical biped robot aimed at the study of human and robot locomotion. The main kinematic and dynamic parameters of the robot are close to anthropometric data. Electric actuators and transmissions are such that their actions are directed along the muscles of the leg and the foot. The control algorithms and the related control and programming architecture have to ensure that the robot can stand, was safe on even indoor surfaces (possibly with a small slope) and climb normal stairs. This paper describes the present state of the project

Keywords

legged locomotion; mobile robots; robot dynamics; robot kinematics; BIP project; anthropomorphic biped robot; control architecture; electric actuators; human locomotion; indoor surfaces; mechanical biped robot; normal stairs; programming architecture; robot locomotion; transmissions; Actuators; Anthropomorphism; Biomechanics; Force measurement; Humans; Kinematics; Leg; Legged locomotion; Mobile robots; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-4160-0

Type

conf

DOI

10.1109/ICAR.1997.620193

Filename

620193